JPH10328965A - Workpiece fitting device and machining system using this deivce - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a workpiece fitting device of lightweight and compact constitution that can clamp or unclamp various kinds of workpiece to convey them using a hydraulic fluid. SOLUTION: This workpiece fitting device is provided with a shank 4 with a pull stud 43 fitted to the tip of a body part 42 having abutting parts 52 with the end part of a workpice and a first passage formed for hydraulic oil L and with a second passage 44 formed to be communicated with the first passage in the body part 42, a moving side passage opening/closing member for communicating the second passage 44 with a third passage on the shank mounting part side at the time of being connected to a shank mounting part side passage opening/closing member provided at a shank mounting part for mounting the shank 4 remvably and closing the second passage 44 from the outside at the time of being released from the connection, and a means 48 pressing the other end of the workpiece by the pressure of hydraulic oil L fed via the second and first passages so as to clamp or unclamp the workpiece jointly with the abutting parts 52.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a workpiece mounting device used for mounting a workpiece and transporting the workpiece to a transport position.
And a machining system for machining a workpiece with a machine tool such as a machining center (hereinafter referred to as MC) using the workpiece mounting device.

[0002]

2. Description of the Related Art In a processing system such as an FMS (flexible production system), when a workpiece is transported to a transport position such as a table of a machine tool or a workpiece storage device, the workpiece is often moved on a pallet. For example,
Japanese Utility Model Publication No. 7-19697 discloses a technique for clamping / unclamping a workpiece by supplying a pressurized fluid via a joint (coupler) to a workpiece mounting device provided on a pallet. .

[0003]

However, when a workpiece is mounted on a pallet, a large pallet transfer device and an automatic pallet changing device (APC) are required for transferring and exchanging a pallet having a large mass. Need a large space.

On the other hand, Japanese Utility Model Laid-Open Publication No. 63-53633 and Japanese Patent Laid-Open Publication No. 5-146958 disclose a tool shank provided on a workpiece mounting jig for holding a workpiece, and work together with the workpiece mounting jig. A technique for transporting an object is disclosed. However, the techniques described in these two publications use a pressure fluid to clamp a workpiece to a workpiece mounting jig.
Since the pressure fluid is not supplied or shut off without the configuration of unclamping, the workpiece cannot be automatically exchanged with the workpiece mounting jig, and it has been difficult to automate and unmanned operation of the machining system.

In particular, in the technique disclosed in Japanese Patent Application Laid-Open No. 5-146958, since the workpiece is screwed and fixed to the workpiece mounting jig, the workpiece requires a screw hole for mounting. Therefore, the shape of the workpiece is limited, and various types of workpieces cannot be freely mounted on the workpiece mounting jig and transported.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problem, and has a lightweight and compact construction capable of freely clamping and unclamping and transporting various workpieces by using a pressure fluid. It is an object to provide an object mounting device. Another object of the present invention is to provide a machining system capable of automatically transporting and exchanging a workpiece and performing an unmanned operation by using the workpiece mounting device.

[0007]

In order to achieve the above-mentioned object, a work mounting apparatus according to the present invention is a work mounting apparatus used for holding a work and transferring the work to a transfer position. A main body portion having a contact portion abutting on at least one end of the workpiece and having a first flow path for pressure fluid formed therein, and a pull stud attached to a tip provided at the main body portion, A second communicating with the first flow path in the main body;
And a shank mounting portion side channel opening / closing portion provided in a shank mounting portion that is provided in one or both of the shank and the pull stud and that is removably mounted with the shank. When connected to a member, the third flow path on the shank mounting part side and the second flow path are allowed to communicate with each other, and when the connection with the shank mounting part side flow path opening / closing member is released, the second flow path is released. A moving side flow path opening / closing member for closing the flow path to the outside, and a moving side flow path opening / closing member provided in the main body,
Work clamp / unclamp that clamps or unclamps the work with the abutting portion by pressing the other end of the work with the fluid pressure of the pressure fluid supplied via the flow path Means.

[0008] The moving-side flow path opening / closing member is provided so that the workpiece clamping and unclamping means can maintain a predetermined clamping force when the second flow path is closed to the outside. Preferably, an accumulator means is provided for preventing the pressure of the pressure fluid in the second flow path from decreasing.

[0009] A machining system according to the present invention includes a workpiece mounting device, a setup device provided at a setup position, which is one of the transfer positions, and having the shank mounting portion.
A machine tool-side mounting device provided at the machine tool-side workpiece exchange position, which is one of the transfer positions on the machine tool side, and having the other shank mounting portion; and the machine mounted on the machine tool-side mounting device. An automatic machine for exchanging the workpiece by moving the workpiece mounting device between the machine tool for processing the workpiece clamped on the workpiece mounting device and the setup device and the machine tool side mounting device; And a goods exchange device.

The shank mounting portion provided in the setup device for detachably mounting the shank of the workpiece mounting device is a shank clamp for clamping or unclamping the shank mounted on the shank mounting portion. An unclamping means, when the workpiece mounting device is mounted on the shank mounting portion, the third flow channel on the shank mounting portion side and the second flow channel in the workpiece mounting device; When the workpiece mounting device is detached from the shank mounting portion, the third
A flow path opening / closing means for shutting off a communication state between the flow path and the second flow path and closing the flow path with respect to the outside; It is preferable that a pressure fluid supply unit that supplies the pressure fluid is connected to the third flow path.

In the processing system, the shank mounting portion side channel opening / closing member is moved forward and backward in the axial direction to connect or disconnect the moving side channel opening / closing member and the shank mounting portion side channel opening / closing member. It is preferable to provide an advancing / retracting moving member.

The machining system further includes a workpiece storage device for storing the workpiece, and a workpiece transport device for transporting the workpiece between the workpiece storage device and the setup device. Preferably, at the setup position, the workpiece is transferred between the workpiece transfer device and the workpiece mounting device held by the setup device.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. 1 and 2 are a front view and a plan view, respectively, of a workpiece mounting device, FIG. 3 is a cross-sectional view showing a part of the workpiece mounting device, FIG. 4 is a cross-sectional view of a setup side mounting device having a shank mounting portion, FIG. 5 is a cross-sectional view of the flow path opening / closing means, FIG. 6 is a plan view showing an entire processing system using the work mounting device, and FIG. 7 is a side view taken along line VII in FIG.

First, the entire processing system will be described. The workpiece mounting device 1 shown in FIG. 1 and FIG.
In a processing system 3 (FIG. 6) such as a (flexible processing cell) or FMS (flexible production system), it is used to transport various workpieces 2 to a transport position while detachably holding them. The workpiece mounting device 1 has a shank 4
The shank 4 is detachably mounted on the shank mounting portion at the transfer position.

As shown in FIGS. 1, 6 and 7, the machining system 3 includes an MC (machining center) 5 for machining a workpiece 2 held by the workpiece mounting device 1 and a workpiece mounting device 1. A setup device 6 for setting up the workpiece 2, a workpiece storage device 7 for storing the unprocessed and processed workpieces 2 respectively, and a workpiece 2 between the workpiece storage device 7 and the setup device 6. And a workpiece transfer device 8 for automatically transferring the workpiece. Further, the processing system 3 includes MC
There is provided a measuring device 15 for measuring the dimension of the workpiece 2 processed in Step 5. Although the case of the MC5 is shown as the machine tool, other types of machine tools such as a turning center can be used as long as the machine tool can process the workpiece 2 transported by being attached to the workpiece attachment device 1. Good.

The setup device 6 is provided at a setup position P ₁ , which is one of the transport positions where the workpiece mounting device 1 is transported, and has a setup side mounting device 26. The setup device 6 includes a mounting table 6b mounted on a base 6a,
It is attached by a fastening member 6c (FIG. 4). Shank mounting portion 9 provided at the tip of setup side mounting device 26
(FIGS. 4 and 7) show the shank 4 of the workpiece mounting device 1.
Are detachably mounted.

The workpiece mounting device 1 is a setup side mounting device 2
6, the pressure fluid (pressure oil L in this embodiment) such as pressure oil or compressed air is supplied to the setup side mounting device 26.
The workpiece 2 is supplied to the internal flow path of the workpiece mounting apparatus 1 so that the workpiece 2 is clamped and unclamped by the fluid pressure (oil pressure) of the pressure fluid. The workpiece 2 is located at the setup position P
_{In step 1} , the workpiece is automatically transferred between the workpiece transfer device 8 and the workpiece mounting device 1 held by the setup device 6. The workpiece mounting device 1 in which the workpiece 2 is stored can be detached from the setup device 6 while the workpiece 2 is clamped while maintaining the oil pressure of the pressure oil L at a predetermined pressure.

The MC 5 has a control panel 5e.
Of the table 10 by the table indexing device 10a
Indexing control around an axis (vertical axis) is possible. An indexing device 11 for indexing the workpiece 2 around the A-axis (horizontal axis) is fixed on the table 10. Therefore, the tool T mounted on the spindle 5a by the automatic tool changer from the tool magazine and the workpiece 2 on the table 10 are moved in three orthogonal X-axis (X, Y, Z-axis) directions including the spindle axis, and the A-axis. The workpiece is processed by moving or rotating in the B-axis direction.

The indexing device 11 includes another shank mounting portion 1.
Equipped with a machine tool side attachment device 13 with 2, the machine tool side attachment device 13 is provided in the workpiece mounting device machine side workpiece exchange position P ₂ is one of the transport position of the 1. The machine tool-side mounting device 13 includes a clamp / anchor that locks the pull stud 43 (FIG. 4) and automatically clamps the shank 4 when the shank 4 of the workpiece mounting device 1 is mounted on the shank mounting portion 12. A clamp mechanism (not shown) is provided.

The automatic workpiece changer 14 includes a setup device 6
Between the indexing device 11 and the machine tool-side mounting device 13,
The workpiece 2 is replaced by replacing the workpiece mounting device 1. In this embodiment, three MCs 5 are provided, and each MC 5 is provided.
5 is set as the setup position P ₁ corresponding with the machine tool side workpiece changing position P ₂ is in, setup device 6, an indexing device 11, an automatic workpiece changer 14 is provided the total three sets.

The workpiece storage device 7 is provided with three rotary type work feeders (hereinafter referred to as feeders) 23. A setting jig (not shown) is mounted on the pallet 23a of the feeder 23, and a workpiece is set in the setting jig. Desired pallet 23a
Is indexed to the work receiving / receiving position P ₃ , so that the work can be transferred to and from the work transfer device 8. In addition, it is preferable to use each feeder 23 exclusively for each size and type of the workpiece 2 because the entire control of the processing system 3 becomes easy.

The automatic workpiece changer 14 includes a setup device 6
, A second cylinder device 17 having a small stroke attached to a movable table reciprocated by the first cylinder device 16, and a workpiece exchange arm (hereinafter, referred to as a workpiece exchange arm). Exchange arm 18). First cylinder device 16
Is the exchange arm body 18a of the change arm 18 and the like the second cylinder device 17, A ₁ position is a setup device 6 side position (retracted position of the first cylinder device 16), the indexing device 11 side of the MC5 between the position in which a ₂ position (extended position of the first cylinder device 16), is reciprocated at a predetermined stroke in a predetermined direction (the axial direction C).

At both ends of the exchange arm 18, gripping portions 20 are formed to be detachably engaged with gripped portions (V-groove portions of flange portions) 19 of the shank 4 of the workpiece mounting device 1. The exchange arm 18 is driven by an exchange arm turning drive 18a to rotate about 18
It turns in the forward and reverse directions at 0 degrees, and is driven by the exchange arm advance / retreat cylinder 18b to move forward / backward in the axial direction of the turning shaft 21. The exchange arm 18 is connected to the second cylinder device 1.
7 reciprocates in the axis C direction by, B ₁ position is a setup device 6 side position (retracted position of the second cylinder device 17), B ₂ position is indexing device 11 side position (second cylinder (Extended position of the device 17).

[0024] That is, the first cylinder device 16, the second cylinder device 17 is respectively A ₁ position, when moved to the B ₁ position, the grip portion of the setup device 6 side of the exchange arm 18 20
Is the gripped portion 1 of the shank 4 attached to the setup device 6.
9 is engaged. The first cylinder device 16, the second cylinder device 17 is respectively A ₂ position, B ₂ when moved to the position, the grip portion 2 of the indexing apparatus 11 side of the exchange arm 18
0 engages with the gripped portion 19 of the shank 4 attached to the indexing device 11.

As described above, the first and second cylinder devices 1
6 and 17, the exchange arm 18 reciprocates in the direction of the axis C, and performs the turning operation and the reciprocating operation in the axial direction of the turning shaft 21.
Are attached to and detached from the setup side mounting device 26 of the setup device 6 and the machine tool side mounting device 13 of the indexing device 11. The automatic workpiece changer is not limited to this configuration, and various mechanisms used in a known automatic tool changer can be applied. For example, the exchange arm may move between the setup device side and the indexing device side by a swing operation.

The work transfer device 8 has a horizontal girder member 24. The horizontal girder member 24 is supported by a support 27
And extends along the feeder 23, the measuring device 15, and the MC5. Guide rails 24a and 24b are respectively provided in the upper and lower portions of the horizontal girder member 24 in the horizontal direction, and the traveling member 24e is connected to the guide rails 24a and 24.
b, it travels in the horizontal direction while being guided by the slide bodies 24j and 24k. Guide rail 24a, slide body 2
4j, the guide rail 24b, and the slide main body 24k each constitute a linear rolling guide.

The traveling member 24e includes a traveling drive motor 24
h and a pinion (not shown) that rotates by being driven by a rack 24f that meshes with the pinion and extends in the traveling direction.
The movement is controlled by. An elevating member 24c is provided on the traveling member 24e so as to be able to move up and down. Lifting member 24c
The guide rails 24g, 24g are driven by a pinion (not shown) rotated by a lifting drive motor 24d and a rack 24m meshing with the pinion and extending in the lifting direction.
The ascent / descent operation is guided by the slide body 24i. The guide rail 24g and the slide main body 24i constitute a linear rolling guide. The running operation, the elevating operation, and the like may be performed by other means.

A hand section 22 is provided below the elevating member 24c. The hand unit 22 has a pair of hand claws 22a that can be freely opened and closed, and the workpiece 2 is detachably gripped by the hand claws 22a and 22a that are opened and closed by a driver (not shown). By moving the hand unit 22 in the traveling direction and the elevating direction, the workpiece 2 is moved between the predetermined feeder 23 of the workpiece storage device 7, the predetermined position of the measuring device 15, and each setup position P ₁ for each MC 5. Transport and deliver. In addition, since the hand part 22 of this embodiment has a configuration in which the two hand parts 22, 22 that can be independently raised and lowered are arranged in the traveling direction, it is easy to exchange an unprocessed workpiece with a processed workpiece. This is preferred.

The workpiece 2, once accommodated by the hand 22 on the setup side attachment device has been workpiece mounting device 1 mounted to 26 in the setup position P _1, it is automatically clamped by hydraulic pressure of hydraulic oil L. Next, the automatic workpiece changer 1
By 4, the workpiece mounting device 1 is setup device 6, is transferred to a indexing device 11 positioned in the machine tool side workpiece exchange position P _2, the shank attachment portion 12 of the shank 4 is the machine tool side attachment device 13 The workpiece 2 can be machined with the MC 5 when the workpiece 2 is clamped. That is, the workpiece 2 clamped by the workpiece mounting device 1 mounted on the machine tool-side mounting device 13 is processed in the cutting area by the tool T mounted on the main shaft 5a of the MC 5.

Next, the work mounting apparatus 1 will be described. As shown in FIG. 1 to FIG.
Is a moving-side channel opening / closing member (hereinafter, referred to as a first coupler) 47 which is one of the members constituting the non-leak coupler, the main body 42, the shank 4 attached to the main body 42.
And work clamping and unclamping means 48. In the workpiece mounting device 1, the direction of the shank 4 (the right side in FIG. 1) is described as forward.

The main body 42 is provided with an accommodating portion 40 capable of removably accommodating the workpiece 2, and inside the main body 42, a first flow path 41 for pressure oil L (pressure fluid) is provided. Is formed. The main body 42 has a positioning member 52 that is an abutting portion that abuts on at least one end of the workpiece 2.
That is, the positioning member 5 having the reference surface 51 for accurately positioning the stored workpiece 2 is provided in the storage section 40.
2 are provided (six in this embodiment),
The workpiece 2 is positioned in the vertical and horizontal directions by a plurality of reference surfaces 51 serving as references for the vertical and horizontal directions. In order to perform positioning in the vertical direction, a vertical positioning means may be provided on the main body 42 or the setup device 6 side. Further, when provided on the setup device 6 side or the like, the vertical positioning means may be moved up and down by an elevating cylinder or the like.

A cleaning air coupler 59 for supplying cleaning air is attached to the main body 42, and an air passage 60 communicating with the cleaning air coupler 59 is formed in the main body 42. . On the setup device 6 side, a cleaning air coupler 61 and a setup device side cleaning air coupler cylinder 62 for detachably connecting the cleaning air coupler 61 to the cleaning air coupler 59 of the tool mounting device 1 are provided. Is provided. Therefore, the cleaning air flows through the cleaning air coupler 61 on the setup device 6 side, the cleaning air coupler 59 on the tool mounting device 1 side, and the air flow path 60, and is ejected from the air nozzles formed on each reference surface 51. Then, the contact portion between the workpiece 2 and the reference surface 51 is cleaned.

Pull stud 43 is provided at the tip of shank 4.
The shank 4 has a main body 42 inside.
A second flow path 44 communicating with the first flow path 41 is formed. The shank 4 has the same outer shape as a tool shank of a tool mounted on the main shaft of the MC 5, and a grip portion 19 and a key groove portion 19 a are formed in a flange portion. The grip 20 of the exchange arm 18 (FIG. 7) is
The workpiece mounting device 1 is gripped by detachably engaging with the gripped portion 19 of the work.

The workpiece clamping / unclamping means 48 is provided in the main body 42 and supplies the pressure oil L to the cylinder device 54 via the first coupler 47, the second flow path 44 and the first flow path 41. By doing so, the workpiece 2 is stored in the storage section 4.
The clamp state is set to 0. By stopping the supply of the pressure oil L to the cylinder device 54, the cylinder device 5
4 is brought into an unclamped state by the urging force of a spring (not shown) built in the same. Thus, the workpiece clamping / unclamping means 48 presses the other end of the workpiece 2 and clamps or unclamps the workpiece 2 with the abutting portion (positioning member 52). The workpiece clamping and unclamping means 48 includes a swinging member 53 that is swingably attached to the main body 42 and a pressure oil L that is attached to the body 42.
And a cylinder device 54 for swinging the swing member 53 by the hydraulic pressure.

The rod 55 of the cylinder device 54 is engaged with the end of the swinging member 53, and is constantly urged in a protruding direction (for example, upward in FIG. 1) by a built-in compression spring (not shown). In addition, the supply of the pressure oil L causes the reversing operation against the urging force of the compression spring. The swing member 53 includes a support shaft 57
And swings around the support shaft 57 as shown by the arrow D. One or more sets (two parallel sets in the present embodiment) of the swing member 53 and the cylinder device 54 are provided according to the shape and type of the workpiece 2.

When the workpiece 2 is not clamped in the storage section 40, the hydraulic pressure in the internal flow passages 41 and 44 is at atmospheric pressure, and the rod 55 is connected to the compression spring (see FIG. (Not shown), and the swinging member 53 is open outward (a state shown by a two-dot chain line). When the workpiece 2 is stored and clamped in the storage section 40, a predetermined oil pressure L is supplied to the cylinder device 54 through the first coupler 47, the second flow path 44, and the first flow path 41. To supply. Then, the pressure oil L
, The rod 55 is pushed in the contracting direction against the spring force of the compression spring. As a result, the swing member 53 engaged with the rod 55 swings about the support shaft 57 as a fulcrum toward the storage section 40 as shown by the arrow D, so that the pressing surface 58 of the swing member 53 is The outer surface of the workpiece 2 is pressed against the reference surface 51 with a predetermined clamping force, and the workpiece 2 is clamped by the workpiece mounting device 1 in a state where the workpiece 2 is positioned in contact with the reference surface 51.

A first coupler 47 built in the workpiece mounting apparatus 1 and a setup side, which is a flow path opening / closing member on the shank mounting section side built in the setup side mounting apparatus 26 and constituting the other member of the non-leak coupler. The flow path opening / closing means (non-leak coupler) 71 shown in FIG. 5 is configured by the flow path opening / closing member (hereinafter, referred to as a second coupler) 70. When the workpiece mounting device 1 is mounted on the setup-side mounting device 26 of the setup device 6, the flow channel opening / closing means 71 connects the third flow channel 45 (FIG. 4) in the setup-side mounting device 26 with the workpiece mounting device 26. The communication between the second flow path 44 in the apparatus 1 and the second flow path 44 is established when the workpiece mounting apparatus 1 is detached from the setup side mounting apparatus 26. It has the function of shutting off and closing the outside. As a result, the workpiece 2 on the workpiece mounting apparatus 1 is continuously clamped by the workpiece clamping / unclamping means 48 while the workpiece mounting apparatus 1 is moving away from the setup apparatus 6.

The third flow passage 45 formed in the setup side mounting device 26 is connected to a pressure oil supply means (pressure fluid supply means) 72 for supplying the pressure oil L. A switching valve 74 is provided in the oil passage 73 of the pressure oil supply means 72. When clamping the workpiece 2, the pressure oil supply means 7
The pressure oil L is supplied from the second pressure oil supply source 75 via the switching valve 74. The pressure oil L is supplied from the oil passage 73 to the cylinder device 54 via the third flow passage 45, the second coupler 70, the first coupler 47, the second flow passage 44, and the first flow passage 41. Then, the workpiece 2 is in a clamped state.

On the other hand, when the workpiece 2 is to be in the unclamped state, the supply of the pressure oil L is stopped by switching the switching valve 74, and the oil pressure in the oil passage 73 is reduced to the atmospheric pressure. Then, the hydraulic pressure in the cylinder device 54 becomes the atmospheric pressure via the same path as described above, so that the workpiece clamping / unclamping means 48 is unclamped by the compression spring built in the cylinder device 54, The workpiece 2 becomes detachable from the workpiece mounting device 1.

The first coupler 47 is provided inside one or both of the shank 4 and the pull stud 43 (in this embodiment, the center of the inside of the shank 4 and the pull stud 43). The first coupler 47 is one of the non-leak couplers (rapid joints) having a structure in which the pressure oil L is unlikely to leak to the outside, and its tip 76 is located on the tip 77 side of the pull stud 43. I have.

The first coupler 47 and the second coupler 70
The shank 4 is mounted on the shank mounting portion 9 at the transport position (for example, the setup position P ₁ ), and the first and second couplers 4 are mounted.
7 and 70, the third on the shank mounting portion 9 side
When the shank 4 is detached from the shank mounting portion 9 and the connection between the first and second couplers 47 and 70 is released, the flow path 45 and the second flow path 44 on the shank 4 side can be communicated with each other.
It has a function of closing the second flow path 44 and the third flow path 45 from the outside.

The first coupler 47 is provided with accumulator means 49. This accumulator means 49
Is that when the second flow path 44 is closed to the outside, the hydraulic pressure of the pressure oil L in the first and second flow paths 41 and 44 maintains a predetermined value, Clamping means 48
Has a function to keep the workpiece 2 clamped with a predetermined clamping force. The accumulator means 49
The first coupler 47 is provided at a rear portion 78, and the first coupler 47 and the accumulator means 49 are provided between the first coupler 47 and the accumulator means 49.
A pressure reservoir oil chamber 80 communicating with the internal flow path 79 and the second flow path 44 in the coupler 47 is formed.

At the rear of the oil chamber 80, a moving member 83 of the accumulator means 49 is provided movably in the direction of the central axis E, and a front end surface 84 of the moving member 83 is in contact with the oil chamber 80. A large-diameter compression spring 85 and a small-diameter compression spring 86 that urge the moving member 83 forward are provided at a rear portion of the moving member 83. The rear ends of the large-diameter compression spring 85 and the small-diameter compression spring 86 are in contact with the shank 4. When the oil pressure in the oil chamber 80 is a predetermined pressure required to maintain the workpiece clamping / unclamping means 48 in a clamped state, the moving member 83 resists the spring force of the compression springs 85 and 86 by the oil pressure. And then retreat.

In the first coupler 47, the pressing member 81
Is moving to the tip 76 side, the first valve 82
And the second valve 81a on the side of the distal end portion 76, the internal flow path 79 is doubly shut off and closed to the outside.
When the pressing member 81 is pushed by the second coupler 70 and moves rearward to retreat the first valve 82, the first and second valves 82 and 81a are opened to release the shutoff, and the internal flow is stopped. The second coupler 70 communicates with the oil chamber 80 and the second flow path 44 via the path 79.

When the workpiece 2 is clamped, the hydraulic pressure in the oil chamber 80 of the workpiece mounting device 1
2. When the pressure is to be reduced due to a leak or the like from the seal portion of the second valve 81a, the pressure balance in the front-rear direction with respect to the moving member 83 changes, and the moving member 83 is moved forward by the spring force of the compression springs 85 and 86. To reduce the volume of the oil chamber 80 and increase its internal pressure. as a result,
Even if the pressure oil L slightly leaks, the accumulator means 49 causes the oil chamber 80, the first and second flow paths 41, 4
Since the hydraulic pressure in 4 is always maintained at a substantially predetermined pressure, the workpiece clamping and unclamping means 48 keeps clamping the workpiece 2 strongly.

Next, the setup side mounting device 26 will be described. As shown in FIG. 4 and FIG.
The shank 4 of the workpiece mounting device 1 is detachably mounted on the shank mounting portion 9 of 6. In the setup side mounting device 26, the direction of the shank mounting portion 9 (left side in FIG. 4) will be described as the front. Main body 9 of setup side mounting device 26
In the inside of 0, a shank clamp / unclamping means 91 for automatically clamping or unclamping the shank 4 mounted on the shank mounting portion 9 is provided. The shank mounting section 9 provided in the setup device 6 includes the shank clamp / unclamp means 91 and the second coupler 70.

Shank clamp / unclamp means 91
Has a moving body 93. The moving body 93 is moved in the direction of the center axis F as shown by an arrow G in the main body 90 by a shank clamp / unclamping cylinder device 92 provided in the main body 90. It can move forward and backward freely. A plurality of ball-shaped engaging members 94 that can move in the radial direction by engaging with the moving member 93 grasp an engaged portion (gripping portion) 95 of the pull stud 43 fixed to the shank 4.

With the engagement body 94 gripping the engaged portion 95, the shank clamp / unclamping cylinder device 9
The shank 4 is clamped to the shank mounting portion 9 by driving the moving body 93 to move the moving body 93 backward and pulling the pull stud 43 backward. Although a ball-type pulling mechanism is used for the shank clamp / unclamping means 91, a collet-type pulling mechanism that pulls the pull stud 43 with a collet may be used.

The pressure oil L is supplied to the shank clamp / unclamping cylinder device 92 from the pressure oil supply means 72. The pressure oil L is switched from a pressure oil supply source 75 by a switching valve 96 and supplied through an oil passage 97 or 98. By switching the pressure oil L, the moving body 93 is driven by the cylinder device 92 for shank clamp / unclamp and moves forward and backward in the front-rear direction. The forward / backward movement of the moving body 93 is detected by clamp / unclamp sensors S ₁ and S ₂ attached to the main body 90.

A substantially cylindrical reciprocating member 100 is fitted in the inner central portion of the main body 90 so as to be reciprocable in the direction of the central axis F. A second coupler 70 is screwed and fixed to the front end of the advance / retreat member 100 in the direction of the central axis F. At the center position inside the moving member 100,
A third flow path 45 is formed facing the direction of the axis F;
The third flow path 45 is connected to the oil passage 7 of the rear pressure oil supply means 72.
3 and the internal flow path of the front second coupler 70.

The second coupler 70 is provided with a coupler cylinder device 10 as an advancing / retreating means provided in the main body 90.
As a result, the robot moves in the direction of the center axis F as shown by the arrow H through the moving member 100. Pressure oil L is supplied from the pressure oil supply means 72 to the coupler cylinder device 101. Pressure oil L supplied from pressure oil supply source 75
Is switched by a switching valve 102 to provide an oil passage 103 or 1
The electric power is supplied to the coupler cylinder device 101 via the line 04. Thereby, the reciprocating member 100 and the second coupler 70 are driven by the coupler cylinder device 101 to reciprocate in the front-rear direction, and this moving operation is detected by the coupler sensors S ₃ and S ₄ .

In this way, the second coupler 70 movable in the front-rear direction by the reciprocating member 100 is connected to and released from the first coupler 47 when the shank 4 is mounted on the shank mounting portion 9. It is free. When the second coupler 70 is not connected to the first coupler 47, the second coupler 70 flows so that the pressure oil L in the flow path in the second coupler 70 and the third flow path 45 does not leak to the outside. It is designed to block the road. The cleaning air supply members 110 and 111 provided on the main body 90 supply cleaning air to the tapered portion 4a and the end surface 4b of the shank 4 when the shank 4 is attached and detached, respectively. The gas is ejected from the ejection port 90a and the ejection ports 90b formed at a plurality of ends.

When the shank 4 is mounted on the shank mounting portion 9 and clamped, the coupler cylinder device 1
01 is driven to advance the second coupler 70 together with the moving member 100. Then, the distal end portion 106 of the second coupler 70 comes into close contact with the distal end portion 76 of the first coupler 47. The pressing rod 107 at the center of the second coupler 70 is
The pressing member 81 of the first coupler 47 is pressed to release the central axis E
Push in the direction. As a result, the valves 82 and 81a of the first coupler 47 and the valve 105 and the second valve 107a at the distal end portion 106 of the second coupler 70 are opened, and the second coupler 70 and the first coupler 47 are opened. And the pressure oil L is machined through the third flow path 45, the second coupler 70, the first coupler 47, the oil chamber 80, and the second and first flow paths 44 and 41. Cylinder device 5 of object mounting device 1
4 can be supplied.

Next, the operation will be described. In the processing system 3, the description will be made on the assumption that the processing of the workpiece 2 by the MC 5 has been completed and a signal for workpiece replacement has been output. When the machining is completed, the workpiece transfer device 8 moves the workpiece 2 to be processed next from the feeder 23 by the one hand unit 22 by the traveling operation, the lifting / lowering operation, the gripping operation of the hand unit 22, and the like. Hold. The first cylinder 47 and the second coupler 7 are driven by driving the coupler cylinder device 101.
When 0 is connected, the flow path from the pressure oil supply means 72 to the cylinder device 54 of the workpiece clamping / unclamping means 48 communicates. In this state, the switching valve 74 is in a predetermined pressure state (pressure for clamping the workpiece) in the flow path.

The other hand portion 22 which stops above the setup device 6 of the MC 5 where the machining is completed and does not grip the workpiece.
Then, the previously processed workpiece which has been clamped by the workpiece mounting device 1 is received, and the unprocessed workpiece is transferred to the empty workpiece mounting device 1. That is, the other hand portion 22 is positioned above the workpiece mounting device 1,
After lowering the other hand unit 22 to a predetermined position, the processed work is gripped by the other hand unit 22 and the work clamp / unclamp means 48 is set to the unclamped state. To achieve this unclamped state, the switching valve 7
When the pressure in the flow path is reduced to the atmospheric pressure, the swing member 53 of the cylinder device 54 swings to the unclamping side by a built-in compression spring. After the other hand unit 22 receives the processed workpiece from the storage unit 40, the other hand unit 22 is raised.

Next, the one hand unit 22 is positioned above the storage unit 40 of the workpiece mounting device 1 and then lowered to a predetermined position, and the unprocessed work is positioned in the storage unit 40. The object clamp / unclamp means 48 is brought into a clamp state. That is, by switching the switching valve 74 and increasing the pressure in the flow path to a predetermined pressure, the cylinder device 54 swings the swinging member 53 to the clamp side to bring it into the clamp state. One hand unit 22 releases the grip and transfers the unprocessed workpiece to the workpiece mounting device 1. The work transfer device 8 transfers the processed work held by the other hand unit 22 to the feeder 23 and returns the work to the pallet 23a.

By driving the coupler cylinder device 101,
The connection between the first coupler 47 and the second coupler 70 is released, and each flow path is shut off. As a result, the workpiece mounting device 1 maintains the clamped state of the workpiece. At this time, the change arm 18, the first cylinder device 16 is A ₁
Located in (retracted position of the first cylinder device 16), the second cylinder device 17 B ₂ position (second cylinder device 17
Extension position), and is located at the standby position.

[0058] drives the second cylinder device 17, the piston rod is moved, B ₁ located in the center of the shank attachment portion 9 is (retracted position) side, the setup device 6 side of the grip portion 20 of the exchange arm 18 And the gripping portion 20 of the exchange arm 18 on the setup device 6 side is engaged with the gripped portion 19 of the shank 4 of the workpiece mounting device 1. Shank clamp / unclamp cylinder device 9 of setup device 6
2 is unclamped.

Next, the exchange arm 18 is moved forward in the axial direction of the turning shaft 21 to detach the shank 4 and the like from the shank mounting portion 9. When the exchange arm 18 moves forward, the cleaning air is supplied to the cleaning air supply members 110 and 111 in order to blow the cleaning air from the ejection ports 90a and 90b. When the gripping portion 20 of the exchange arm 18 moves forward, the engaging claw 20a is fixed by known engaging claw fixing means (not shown), and the gripped portion 19 of the shank 4 is securely gripped by the gripping portion 20. . The cleaning air spouted from the shank mounting portion 9 is stopped. After positioning the exchange arm 18 to the B ₂ position (extended position) by the second cylinder device 17, it is positioned at the standby position changing arm 18 moved backward in the axial direction of the pivot axis.

The door 5d for opening and closing the opening of the splash guard 5c of the MC 5 is moved in the opening direction. The machined workpiece 1 that has been machined this time is clamped to the workpiece mounting device 1 mounted on the indexing device 11.
The table 10, indexing device 11 is positioned on the machine tool side workpiece exchange position P _2. First cylinder device 1
6 is positioned at the A ₂ position (extended position), the exchange arm 18 is moved to the indexing device 11 side, and the center of the shank mounting portion of the indexing device 11 is located at the indexing device 11 side of the exchange arm 18. The centers of the gripping portions 20 are matched.

The empty grip 20 on the indexing device 11 side of the exchange arm 18 engages with the gripped portion 19 of the shank 4 of the workpiece mounting device 1 mounted on the indexing device 11.
The shank clamp / unclamping means (not shown) of the indexing device 11 is set to an unclamped state. In order to clean the shank 4 and the end face of the workpiece mounting device 1, cleaning air is blown from the shank mounting portion of the indexing device 11. The exchange arm 18 is moved forward in the axial direction of the turning shaft, and the workpiece mounting device 1 is detached from the shank mounting portion of the indexing device 11. When the gripper 20 of the exchange arm 18 moves forward, the engaging claw 20a is fixed by known engaging claw fixing means (not shown), and the gripper 1 of the shank 4 is held.
9 is securely held by the holding unit 20.

[0062] Then, to position the second cylinder device 17 to B ₁ position, to position the change arm 18 to exchange arm swing position. By rotating the exchange arm 18 by 180 degrees, the position of the gripping portion of the exchange arm 18, that is, the workpiece attachment device 1 that clamps the processed workpiece and the workpiece attachment that clamps the unprocessed workpiece. The position of the device 1 is reversed. By positioning the second cylinder device 17 at the position B ₂ , the replacement arm 18 is positioned at the position where the center of the shank mounting portion of the indexing device 11 and the center of the grip portion 20 of the replacement arm 18 on the indexing device 11 side match. 18 is moved. The advance / retreat movement to the exchange arm turning position is for preventing interference between the indexing device 11 and the table 10 when the exchange arm 18 performs a 180-degree turning operation,
This is not always necessary if there is no interference during turning.

Next, when the exchange arm 18 is moved backward, the shank 4 of the workpiece mounting device 1 which clamps the unprocessed workpiece is inserted into the indexing device 11. The shank clamp / unclamp means of the indexing device 11 is set in a clamp state. The cleaning air spouted from the shank mounting portion of the indexing device 11 is stopped. By moving the first cylinder device 16 to the position A _{1 and} positioning the exchange arm 18 at the standby position, the grasped portion 19 of the shank 4 and the grasping portion 20 of the exchange arm 18 on the indexing device 11 side are moved.
Is disengaged.

The MC 5 puts the open / close door 5d in a fully closed state, and starts machining the workpiece with the tool T mounted on the main shaft 5a. That is, while rotating the spindle 5a on which the tool T is mounted,
The workpiece and the tool T are relatively moved in three axial directions (X, Y, and Z axis directions) including the main axis direction. Further, the indexing device 11 and the table 10 to which the indexing device 11 is fixed are processed around the A-axis and the B-axis by performing indexing control and the like. Further, the tool is exchanged between the tool magazine and the spindle 5a by the automatic tool changer.

After the exchange arm 18 is moved forward in the axial direction of the turning shaft, the second cylinder device 17 is positioned at the position B ₁ and the exchange arm 18 is set up at the center of the shank mounting section 9 of the setup device 6. The exchange arm 18 is moved to a position where the center of the grip 20 on the device 6 side coincides. Cleaning air is blown out from the shank mounting portion 9 toward the shank 4. The workpiece mounting device 1 which clamps the processed workpiece is inserted into the shank mounting portion 9 of the setup device 6. The shank clamp / unclamp cylinder device 92 of the setup device 6 is set in the clamped state, and the ejection of the cleaning air is stopped. By positioning the second cylinder device 17 at the B ₂ position and the replacement arm 18 at the standby position, the gripping portion 2 of the replacement arm 18 is moved from the gripped portion 19 of the shank 4.
Leave 0.

In the present embodiment, the clamp member and the unclamping operation are performed by swinging the swing member 53, but the present invention is not limited to this. For example, the clamping and unclamping operations may be performed by directly moving with a cylinder device. Further, although the coupling and disconnection of the first coupler and the second coupler are performed by the coupler cylinder device, the coupling and disconnection may be performed by attaching and detaching the shank to and from the shank mounting portion. Good.

Further, the processing system 3 may be provided with one machine tool, one setup device, and one automatic workpiece changer. In this case, the worker may manually attach and detach the work to and from the work mounting apparatus 1. Since the time for exchanging the workpiece is reduced, a single operator can be in charge of a plurality of machining systems. In addition, a so-called industrial robot that moves at three orthogonal coordinates or polar coordinates from the workpiece storage device is used as the workpiece transfer device,
A workpiece may be attached to and detached from the workpiece attachment device 1 of the setup device by the industrial robot. Further, a work magazine having a mechanism similar to that of a known tool magazine may be provided, and a setup device may be provided in a part of or near the work magazine. In this case, even if the work is attached and detached to and from the work mounting apparatus 1 manually, long-time automatic operation is possible by performing the setup once.

As described above, according to the present invention, the workpiece 2 can be easily transported and replaced by the lightweight workpiece mounting device 1 without using a pallet having a large mass. A device and an APC (automatic pallet changing device) are not required, and the space for transferring the workpiece is reduced. The workpiece 2 is clamped with the outer surface pressed by the swinging member 53 while being stored in the storage section 40, so that various workpieces can be automatically and freely clamped and unclamped. Japanese Unexamined Patent Publication No. 5-14, which is limited in the shape of the workpiece because the workpiece requires a screw hole or the like.
Compared with the prior art described in Japanese Patent No. 6958, the workpiece mounting device 1 of the present invention does not limit the shape of the workpiece.

Pressure oil L supplied from pressure oil supply source 75
By adjusting the hydraulic pressure, the clamping force of the workpiece clamping / unclamping means 48 can be arbitrarily changed, and clamping can be performed with a strong clamping force. Since the workpiece mounting device 1 is provided with the shank 4 so that the workpiece can be mounted on the shank mounting portions 9 and 12, the workpiece can be mounted in substantially the same configuration as that for handling tools (for example, the exchange arm 18 and the pivot 21). 2 can be easily handled.

As described above, when the workpiece mounting apparatus 1 is used in the machining system 3, the workpiece 2 can be automatically clamped / unclamped, transported, and replaced with the MC5. Therefore, if the entire processing system 3 is controlled by the control device, long-time automation and unmanned operation can be performed. The same reference numerals in the drawings indicate the same or corresponding parts.

[0071]

Since the work mounting apparatus according to the present invention is constructed as described above, various works can be freely clamped and unclamped and transported by using a pressurized fluid. Can be According to the processing system using the workpiece mounting device, various types of workpieces can be automatically and freely clamped and unclamped, transported and exchanged, and an unmanned operation can be performed. A lightweight and compact configuration can be achieved.

[Brief description of the drawings]

FIGS. 1 to 7 are views showing an example of an embodiment of the present invention, and FIG. 1 is a front view of a work mounting apparatus.

FIG. 2 is a plan view showing a part of the work mounting device in a cross section.

FIG. 3 is a cross-sectional view showing a part of the workpiece mounting device.

FIG. 4 is a cross-sectional view of a setup side mounting device having a shank mounting portion.

FIG. 5 is a sectional view of a flow path opening / closing means.

FIG. 6 is a plan view showing the entire processing system using the workpiece mounting device.

FIG. 7 is a side view taken along the line VII in FIG. 6;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Workpiece mounting device 2 Workpiece 3 Processing system 4 Shank 5 Machining center (machine tool) 6 Setup device 7 Workpiece storage device 8 Workpiece transfer device 9, 12 Shank mounting part 13 Machine tool side mounting device 14 Automatic workpiece changer 40 storage section 41 first flow path 42 main body section 43 pull stud 44 second flow path 45 third flow path 47 moving side flow path opening / closing member 48 workpiece clamp / unclamp means 49 accumulator means 52 positioning member 70) Setup side flow path opening / closing member (shank mounting part side flow path opening / closing member) 71 Flow path opening / closing means 72 Pressure oil supply means (pressure fluid supply means) 91 Shank clamp / unclamp means 100 Advance / retreat moving member L Pressure oil (Pressure fluid) P ₁ Setup position (transport position) P ₂ Machine tool side workpiece change position (transport position)

Claims (6)

[Claims] 1. A workpiece mounting device used to hold and transport a workpiece to a transport position, comprising: a contact portion that contacts at least one end of the workpiece;
A main body in which a first flow path for pressure fluid is formed; and a second flow path provided in the main body and having a pull stud attached to a tip thereof and communicating with the first flow path in the main body. And a shank provided on one or both of the shank and the pull stud, and connected to a shank mounting portion-side channel opening / closing member provided on a shank mounting portion for removably mounting the shank. The third part on the shank mounting part side
And a movable side flow path which closes the second flow path to the outside when the connection with the shank mounting portion side flow path opening / closing member is released. An opening / closing member, the other end of the workpiece being pressed by the fluid pressure of the pressurized fluid provided via the moving-side channel opening / closing member and the second and first channels provided in the main body. And a workpiece clamping / unclamping means for clamping or unclamping the workpiece between the workpiece and the contact portion. 2. A workpiece mounting device for clamping the workpiece by the workpiece clamping / unclamping means, wherein the moving-side channel opening / closing member closes the second channel from the outside. The workpiece clamping and unclamping means can maintain a predetermined clamping force when
The work mounting apparatus according to claim 1, further comprising accumulator means for preventing a pressure of the pressure fluid in the second flow passage from decreasing. 3. The work mounting apparatus according to claim 1, wherein the setting position is one of the transfer positions, and the setting device includes the shank mounting portion. 3. The transfer position on the machine tool side. A machine tool-side mounting device provided at the machine tool-side workpiece exchange position, which is one of the above, and having the other shank mounting portion; and the workpiece mounting device mounted on the machine tool-side mounting device being clamped by the workpiece mounting device. A machine tool for processing the workpiece, and an automatic workpiece exchange device for exchanging the workpiece by moving the workpiece attachment device between the setup device and the machine tool side mounting device. A processing system using a workpiece mounting device, characterized in that: 4. The shank mounting portion provided on the setup device for detachably mounting the shank of the workpiece mounting device, clamps or unclamps the shank mounted on the shank mounting portion. Shank clamp / unclamping means; and when the workpiece mounting device is mounted on the shank mounting portion, the third flow channel on the shank mounting portion side and the second flow channel in the workpiece mounting device. And when the workpiece mounting device is detached from the shank mounting portion, the communication between the third flow path and the second flow path is cut off and the flow is closed to the outside. A shank mounting portion-side flow passage opening / closing member, wherein the passage opening / closing means is configured together with the moving-side flow passage opening / closing member, and a pressure for supplying the pressure fluid to the third flow passage. The machining system using the workpiece mounting device according to claim 3, wherein a force fluid supply unit is connected. 5. An advancing and retreating member for moving the shank mounting portion side channel opening / closing member in the axial direction and connecting or disconnecting the moving side channel opening / closing member and the shank mounting portion side channel opening / closing member. A processing system using the workpiece mounting device according to claim 4. 6. A workpiece storage device for storing the workpiece, and a workpiece transport device for transporting the workpiece between the workpiece storage device and the setup device, wherein at the setup position the The workpiece is transferred between a workpiece transfer device and the workpiece mounting device held by the setup device.
Or a processing system using the workpiece mounting device according to 5.